DE60316737T2 - Parallel rod mechanism and thus provided artificial joint - Google Patents

Description

BACKGROUND OF THE INVENTION

Field of the invention

This invention relates to a parallel connection according to the preamble of claim 1, as this example in the EP 0 112 099 is disclosed.

Description of the state of technology

An artificial joint device was conventionally eg in the Japanese Patent Laid-Open (Kokai) No. 11-345 disclosed. The artificial joint device is applied to an ankle joint to connect the leg section with the leg section between a leg section of an artificial leg and a leg section thereof. The foot portion of the artificial leg has an upper end portion formed with a laterally extending through hole. On the other hand, the leg portion of the artificial leg has a lower end thereof which is branched into two arms so as to form a bracket whose arms each have a hole formed therethrough at a position which laterally penetrates an opening thereof corresponds to the foot portion extending through hole. In this artificial hinge device, an axle is fitted through the holes of the bracket as well as through the through hole of the leg section, which are aligned with each other, whereby the leg section and the leg section are capable of pivoting relative to each other only in the forward-backward direction. Direction to perform a horizontal axis.

According to the above artificial Articulating device may be due to the fact that the foot section and the leg portion is allowed to pivot in relation to to each other about the horizontal axis only in the forward-backward direction perform, the ankle section not be twisted even if one is the artificial one Leg wearing person during of walking trying to turn left or right, what to do the Makes turning difficult. A combination of a serial connection with three or more degrees of freedom and an electric motor, which is used as a joint portion of a robot limb is, as an artificial one Hinge device capable of performing the twisting movement. however needed this kind of artificial Hinge device at least three electric motors to the three or more degrees of freedom and at the same time the holder of the weight to ensure the components of the robot. This enlarges the Size one Power supply and that of the entire device, resulting in increased production costs the device leads. Furthermore, the increased device size and the make it difficult Requirement of power supply, the device on a prosthetic appendage apply.

From the publication US 5,740,699 A An expandable wrist mechanism is known which comprises two link attachment sections connected by three expandable actuators and an expandable link, the actuators and expandable member each being attached at their ends to a respective link attachment section by, for example, a hinge such that the two attachment sections rotate relative to one another two axes, namely a transverse axis and a vertical axis, can be pivoted while preventing rotation against each other. The three actuators are driven by three motors provided to them, so that control of the motors makes it possible to orient the link attachment portions to each other as well as to adjust the distance between the link attachment portions.

Moreover, from the EP 0 112 099 A a robotic limb is known, which, unlike the mechanism described above, comprises two actuators and a connecting rail fixed directly to a link mounting section and having a constant length. In this way, this limb allows the two link attachment portions to be pivoted in all directions, during which the distance between the two link attachment portions remains constant.

Overview of the invention

It Object of the invention, an artificial joint device which makes it possible a prosthetic limb or link to realize which is able to on the appendage to dampen impacting impacts.

The above object is achieved by a parallel connection according to claim 1. A preferred embodiment comprises a parallel connection for connecting two spaced link attachment sections, comprising: a fixed link fixed at one of its ends to one of the link attachment sections, a fixed link linkage for connecting another end of the fixed link to another of the link attachment such that an angle of the fixed link with respect to the other of the link attachment portions can be changed in any desired direction; a plurality of expandable links extending between the two link attachment sections in an expandable / contractible manner; and a plurality of expandable link joints connecting opposite ends of the plurality of expandable link members respectively to the link attachment portions such that respective angles of each expandable link with respect to the link attachment portions may be changed in any desired direction.

According to this Parallel connection is one end of the fixed link fixed with one of the link mounting portions. Therefore It is due to solid and robust design of the fixed link possible, the main part of the compressive load or tensile load caused by the fixed link on at least one of the link attachment sections exercised is going to wear. Because each of the plurality of expandable links its opposite ends over its associated extensible link joints with the two link mounting portions each such has the angles thereof with respect to the associated link attachment portions in any desired Changed direction can be Further, no bending stress is applied to the expandable links applied but it is only a compressive load and / or a tensile load exercised on these. this makes possible it, expandable links with relatively low load capacity and to use rigidity, reducing the weight of the parallel connection is reduced. Furthermore are the other end of the fixed link and the opposite Ends of the expandable links each with the associated link mounting portion over the Fixed-link joint or the expandable link joint such that the Angle thereof with respect to the link mounting section in any direction you want changed which can be a great degree of freedom at the angle of relative movement between the two link attachment portions ensures, between them, for example, a twisting motion allows becomes.

According to the invention The parallel connection includes urging elements, respectively provided in the plurality of expandable links are, with each urging element has the purpose, an associated Link of the expandable links in at least to push a direction, which is opposite to directions in which the expandable Link then expands and contracts, if that expandable link expands and contracts.

There each expandable link through the associated urging member in one direction or in directions opposite to the direction of extension and / or the direction of contraction is pushed, it is accordingly possible, one over the expandable links between the two link attachment sections Push through to reduce the urging forces. As the amount of contraction or expansion of the expandable links is bigger, is also the urging force of the associated Drängungselements elevated, so that the range of movement of the expandable link is accurate can be limited to the link attachment portions to keep from moving further than necessary. As a result, Is it possible, For example, even if the link attachment portions are along a curved surface or a three-dimensional object to be moved, the occurrence to prevent a wobble, resulting in an excellent follow-up behavior is maintained.

The fixed link preferably comprises a shock absorbing Element for steaming a push, which transmit between the two link mounting sections becomes.

According to this preferred embodiment Is it possible, one between the two link mounting portions over the fixed one Transfer link Push through that shock-absorbing Dampen element.

Preferably For example, the plurality of expandable links are three expandable links.

According to this preferred embodiment it is because of that that the two link mounting portions at least over each other three expandable links and the fixed link are connected, when the expandable links each for example, by an actuator for expansion and contraction be driven, possible, to drive expandable links in such a way the expandable links provide the two link attachment portions rotate in corresponding opposite directions of rotation.

Further it is preferred that the at least three expandable links are arranged such that connecting portions of the same, which at least with one of the two link mounting sections not on at least one of the two link attachment portions lie on a line, and that a connecting portion of the fixed Link is positioned within a polygon, which through the connecting portions of the at least three expandable ones Connecting links is defined as vertices.

There at least three expandable links arranged such are that their connecting areas, which with at least one of the two link attachment portions are not connected lie in line on the link mounting section and that a connecting portion of the fixed link is positioned within a polygon passing through the connection areas the at least three expandable links as vertices is defined, it is according to this preferred embodiment possible, to make the parallel connection compact in size, the is capable of the two link mounting portions to twist in the respective opposite directions of rotation, as described above. Furthermore, a driving force, which is required for initiating the Verdrehbetriebs reduced be what to promote the operating efficiency contributes.

Further it is preferred that the parallel connection further comprises a drive source, Actuators, which have the purpose, each an associated link the at least three expandable links for expansion and contraction by a driving force supplied from the drive source to drive, and a control means for controlling the Driving force, which, starting from the drive source each actuator supplied becomes.

There the control means an expansion and contraction of each the at least three expandable links by means of It can control according to this preferred embodiment possible, to drive the expandable links to the two link attachment sections in the corresponding opposite directions of rotation, such as as described above, to twist. Consequently, the parallel connection on a robot and on an industrial machine, which / which such a twisting motion needed to be applied. As has been described above, when the fixed link solid and robust, the main part of the pressure load and the tensile load applied to at least one of the link attachment sections acts, carrying what allows a reduction of the driving forces, the actuators for driving the expandable links supplied and thereby reducing energy consumption becomes.

The Actuator is more preferably an electric actuator, which is configured so that it then generates regeneration energy, if the associated expandable link extended and contracted by an external force , wherein the parallel connection further comprises an accumulator for storing the regeneration energy generated by the electric Actuator was generated.

There the electric actuators are capable of regeneration energy then generate when the expandable links extended by external forces and contracted, it is possible according to this preferred embodiment, the Regeneration energy as electrical energy for driving the electric To use actuators. This allows both the size of a Power supply as well as reduce operating costs, resulting too a reduction in the manufacturing cost of the parallel connection contributes.

According to one embodiment, there is further provided an artificial joint device comprising:
two spaced limb elements and a parallel link connecting the two limb elements.

There the two limb elements are connected by the parallel connection, it is according to this artificial Joint device possible, the degree of freedom at the angle of relative movement between the two limb elements to increase to a level which is similar is to that of a joint of a living body, what by means of the artificial Hinge device of conventional artificial Leg was previously unreachable. Unlike an artificial one Hinge device of the type with a serial connection, as is common e.g. used in a robot, furthermore, the artificial Articulation device according to this Aspect using the parallel connection, the simpler and less expensive than the serial connection, be realized and without this to any power or electrical Engine is used.

The parallel connection preferably comprises a fixed link, which is fixed with one of its ends to one of the limb elements, a fixed-link joint to Connecting another end of the fixed link to another of the limb members such that an angle of the fixed link with respect to the other of the limb members can be changed in any desired direction; a plurality of expandable links extending between the two limb members in an expandable / contractible manner; and a plurality of expandable link joints connecting respective opposite ends of the plurality of expandable links to the limb elements such that corresponding angles of each expandable link with respect to the limb elements may be changed in any desired direction.

According to this preferred embodiment can the same beneficial effects as the above Parallel connection can be obtained. Especially Is it possible, the weight of the artificial Reduce joint device and a high degree of freedom of the same to obtain. Accordingly, it is when the artificial joint device on for example an ankle an artificial one Leg is applied, possible the weight of the artificial leg to reduce, and at the same time allows the artificial Joint of the preferred embodiment unlike the artificial one Joint of the conventional artificial Leg to a user during his weight through the artificial Leg is worn, for example, a twisting movement or the like. between a leg portion and a foot portion in similar Way like an ankle to perform a live leg. this makes possible the user a more even and more natural Exercise not only when going straight, but also at one after turning left or right while walking. In similar Way, the weight of the artificial Arms are then reduced when the artificial joint device for example applied to a wrist of an artificial arm, and at the same time allows the artificial joint, a twisting movement or the like between an arm portion and a Hand section performed to become. In short, possible the artificial joint, the degree of freedom at the angle of movement between the arm portion and to raise the hand section.

The artificial Articulating device also more preferably comprises urging elements, each provided in the plurality of expandable joints are, each having the purpose of an associated link of the expandable links in at least one direction to urge which is opposite to directions where the expandable link then it expands and contracts when the expandable link expands and contracts.

According to this preferred embodiment can the same beneficial effects as the above Parallel connection can be obtained. Especially Is it possible, one between the two limb elements over the extensible links transmitted Push to dampen. Then, if the artificial Articular device on, for example, an ankle of an artificial As a result of which the leg is applied, the urging elements serve as one To mitigate shock, which starting from the artificial Leg to the living body the user over the expandable links are then transmitted when the user the artificial one Leg on a floor, a road surface or the like. (Hereafter simply as "the Floor ") to reduce the burden on the user, which is the artificial one Leg wearing. Then, when the urging elements the associated pushing expandable links as they contract, and although in a direction opposite to the direction of contraction, in the case that the user has his artificial leg during the Going up from the ground can also urging forces, which the artificial one Crowd leg, to be kicked against the ground. In this way Is it possible, one of the walking living body to reduce outgoing treading force, thereby further reducing the burden on which the artificial Leg wearing user is reduced and allows the user a more even walking motion performs. The required follow-up ability and holding force can be ensured even by the urging forces of the urging members if the walking motion requires it, for example in the case of going up or down a slope, the angle of the ankle a road surface follows and a suitable holding force of the ankle is present.

The fixed link more preferably comprises a shock-absorbing Element for damping a shock which is transmitted between the two limb elements.

According to this preferred embodiment, the same advantageous effects as provided by the above parallel connection can be obtained. In particular, it is possible to damp a shock transmitted between the two limb members via the fixed link. Thus, it is possible, for example, when the artificial joint device to an artificial leg is turned to reduce a shock, which is transmitted from the artificial leg to a living body of the user via the fixed link then when the user sets the artificial leg on the ground, thereby further the burden on the user of the artificial Reduce leg.

The A plurality of expandable links is further preferred at least three expandable links.

According to this preferred embodiment can the same advantageous effects as the above parallel connection to be obtained. In particular, it is when the expandable Each link, for example, by an actuator for Stretching and contraction can be driven, possible, the expandable To operate links such that the two limb elements be rotated in corresponding opposite directions of rotation and that an automatically controlled artificial joint device is realized with such twisting assets.

The at least three extendable links continue to be so preferably arranged that their connection areas, which at least associated with an element of the two limb elements, not on a line on at least one of the two limb elements lie, and that a connecting portion of the fixed link is positioned within a polygon through connecting sections the at least three expandable links as vertices is defined.

According to this preferred embodiment can the same beneficial effects as the above Parallel connection can be obtained. Especially Is it possible, the automatically controlled artificial joint device compact in size too which is able to shape the two limb elements to rotate in the corresponding opposite directions of rotation. In addition, a driving force which causes the twisting movement is required to be reduced, resulting in a promotion the operating efficiency contributes.

The artificial Articulating device more preferably comprises a drive source, Actuators, each having the purpose of an associated link the at least three expandable links for expansion and contraction by a driving force generated by the drive source supplied to drive and a control means to control the driving force, which each actuator from the drive source supplied becomes.

According to this embodiment can the same beneficial effects as the above Parallel connection can be obtained. Especially Is it possible, the two limb elements to rotate in the corresponding opposite directions of rotation.

Therefore is it when the artificial joint device for example, on an ankle artificial Leg is applied, possible, both to allow the user to twist an angle of the same as well as to perform a rotary motion while walking evenly, as also an automatically controlled / regulated artificial leg with such Twist assets to realize. Then, if the artificial Articular device on a joint of artificial leg football is applied the artificial leg Nevertheless, a more even rotational movement Go, so it's possible is the movement of automatically controlled / regulated artificial leg to approximate those of a living leg. Beside it is through solid and robust design of the fixed link, as described above, possible the fixed link to cause the weight load of a user to wear what it allows the driving forces, which fed to the actuators will reduce, thereby reducing energy consumption contributed by the automatically controlled / controlled artificial leg. On similar Way it is when the artificial joint device on a wrist or joint of a handball of an artificial one Arms is applied, possible an automatically controlled / controlled artificial hand or an automatically controlled / regulated To realize arm. The use of the artificial joint device allows it, not just the movement of the artificial Hand or arm to that of a living hand or a living one To approach Arms, but also to reduce energy consumption. In addition is it is possible then, if the artificial Articulated device applied to a limb of a robot becomes the same effects as described above receive.

The Actuator is most preferably an electric actuator, which is configured to then generate regeneration energy if the associated extendible link extended and contracted by an external force being, being the artificial Articulating device further comprises an accumulator, which the Purpose has, regeneration energy, which by the electric actuator was created to save.

According to this preferred embodiment can the same advantageous effects, as by the above parallel connection be provided. It is then, if the artificial one Articular device on a prosthetic limb or a limb of a Robot is applied, possible both the size of the power supply as well as the height reduce running costs, reducing costs the prosthetic limb or the robot contributes.

The artificial Articular device is used in an artificial leg and / or a artificial arm more preferably used, wherein the artificial joint device further, an operation will detection means for detecting an operational will of User includes to the artificial Leg and / or the artificial Arm operate, and wherein the control means the actuators according to the sampled Operational will controls / regulates.

According to this preferred embodiment becomes the operational will of a user, which is the artificial one Leg and / or the artificial arm used, detected by the operation will detection means, and the actuators are controlled by the control means in accordance with sensed willingness to operate regulated / controlled. In general the movement of a joint of a living body, especially the movement a joint of a limb complicated, so when using a parallel connection used by actuators, the complicated movement to mimic it possible is the parallel connection directly by an instruction or the like to control a user's brain. That's why a control system required to detect the operational will of the user based on activities of the user's brain, nerves and / or muscles, as well the parallel connection according to the palpated Operational will control. Accordingly, the artificial allows Articular device, the movement of automatically controlled / regulated artificial Leg and / or artificial arms cause it to coincide with a movement intended by the user or to be compliant with it, reducing the comfort of the artificial Leg and / or artificial Arms is improved.

The Parallel connection preferably comprises an inextensible movable Link extending between the two limb elements and two movable link joints for respectively connecting the opposite Ends of the inextensible movable link with the two limb elements such that corresponding angles of the inextensible movable Link in terms of limb elements in any desired Changed direction can be.

There the opposite Ends of the inextensible movable link with the two Limb members are each connected such that the corresponding angles of the inextensible movable link with respect to the limb elements in every desired Changed direction can be is it according to this preferred embodiment possible, both a distance between the sections of the associated limb elements, which is connected to the inextensible movable link are to maintain as well as a redundant degree of freedom of parallel connection inhibit as well as an unnecessary Restrict movement of the same.

The artificial Articular device is preferably used for a Hallux section, wherein the parallel connection comprises at least three expandable ones Connecting links, which are between two limb elements in one extend expandable / contractible manner, and a A plurality of expandable link joints, respectively opposing Ends of the at least three expandable links with the Limb elements like that connect that corresponding angle of each expandable link in terms of limb elements in every desired Changed direction can be being the artificial one Articulating device further comprises a drive source, actuators, which are each a connecting link of the at least three expandable Connecting links for expansion and contraction by one of supplied to the drive source Driving power and a control / regulating means to control / regulate the driving force, which from the drive source to each actuator supplied becomes.

Since the opposite ends of each of the at least three expandable links are each connected to the limb members such that associated angles of the expandable link with respect to the link members can be changed in any desired direction, it is possible in accordance with this preferred embodiment to provide a high degree of freedom of a joint on the footpad of the foot (joint on a hallux (big toe)) or of a joint on a wrist (joint of a thumb). In addition, since the operation of the actuators driving the associated expandable links is controlled by the control means, it is possible to realize an automatically controlled joint on the ball of the foot or on the palm of the hand. the Thus, when the artificial joint device is applied to a joint on the ball of the foot (joint of a neck) of an artificial foot or leg, the movement of the hallux, which plays an important role in a rotational movement of the artificial foot or bale during walking, may be involved , to be approximated to those of a living Hallux. In this way, it is possible to approximate the rotational movement of the automatically controlled artificial foot or leg to that of a living foot or leg, thereby enabling smooth walking of the artificial foot or leg. Similarly, when the artificial joint device is applied to a wrist on a wrist (joint of a thumb) of an artificial hand or arm, it is possible to adjust the degree of freedom of movement of the automatically controlled artificial hand or arm to those to approach a living hand or an arm. Further, when the artificial joint device is applied to a joint of a limb of a robot, it is possible to obtain the same advantageous effects as described above.

The Parallel connection further preferably comprises an inextensible movable Link extending between the two limb elements and two movable link joints for connecting opposing ones Ends of the inextensible movable link each with the limb elements such that corresponding angles of the inextensible movable Link in terms of limb elements in any desired Changed direction can be.

According to this preferred embodiment can the same advantageous effects as those described above was obtained. As it is possible is the joint of the hallux or the hand bale without change the length Halluxes or handball to bend, can also according to this preferred embodiment the movement of the hallux or handballing automatically controlled / regulated prosthetic limb be approximated to those of the living Halluxes or handball.

The Control means preferably controls the driving force, which from the drive source so to the actuator supplied is that a distance between the two limb elements kept constant becomes.

According to this preferred embodiment Is it possible, continue the movement of the joint of the Halluxes or handball the automatically controlled / regulated prosthetic limb to those of the living hallux or handball without the number the component parts of the prosthetic limb is increased.

The above and other objects, features and advantages of the invention will be described below in combination with the detailed description with the attached Drawings easier to understand.

BRIEF DESCRIPTION OF THE DRAWINGS

1 Fig. 12 is a view schematically showing the construction of the right artificial leg in which an artificial joint device incorporating a parallel connection according to a first embodiment of the invention is incorporated;

2 Fig. 12 is a plan view showing the positional relationship of a mounting plate between four upper ball joints and a fixed connection member connecting portion;

3A is a front view of the right artificial leg in a detached state;

3B is a rear view of the right artificial leg in the detached state;

4 Fig. 11 is a side view of the right artificial leg in the detached state;

5A Fig. 13 is a side view of the right artificial leg in a state where its ankle is bent forward while walking;

5B Fig. 11 is a side view of the right artificial leg in a state in which the ankle is bent backward;

6A Fig. 11 is a front view of the right artificial leg in a state in which the ankle is bent to the left while walking;

6B Fig. 11 is a front view of the right artificial leg in a state in which the ankle is bent to the right;

7A and 7B Fig. 15 is perspective views of the right artificial leg in a state in which the ankle is turned to the left when turning to the left while walking;

8th FIG. 12 is a view schematically showing the structure of an artificial leg which is an artificial joint device according to a two-dimensional art th embodiment of the invention has installed;

9A Fig. 12 is a view showing the structure of an automatically controlled artificial leg incorporating an artificial joint device according to a third embodiment of the invention;

9B Fig. 12 is a view schematically showing the construction of a parallel connection for a joint on the ball of the foot;

10 Fig. 12 is a view schematically showing the entire arrangement of a control system for controlling artificial legs;

11A and 11B are views useful in explaining the operation of an electrically driven artificial muscle;

12A Fig. 12 is a perspective view showing the appearance of an electrically driven expandable link;

12B FIG. 12 is a cross-sectional view of the electrically driven expandable link of FIG 12A ;

12C Fig. 15 is a perspective view schematically showing the arrangement of a linear electric motor;

13 Fig. 12 is a view schematically showing a variation of the artificial joint device according to the third embodiment of the invention; and

14 Fig. 12 is a view schematically showing the structure of an automatically controlled artificial arm incorporating an artificial joint device according to a fourth embodiment of the invention.

DETAILED DESCRIPTION THE PREFERRED EMBODIMENTS

The Invention will now be described in detail with reference to the drawings, which preferred embodiments show the same.

Referring first to 1 is schematically the structure of an artificial leg 1 shown in which an artificial joint device 2 , which comprises a parallel connection according to a first embodiment of the invention, is applied to an ankle thereof. In the following description, the left and right sides as well as the front and back sides as seen by a user wearing the artificial leg are referred to as the left and right sides and the front and back sides, respectively Side, as in 1 can be seen as the front and rear sides, respectively, and the front and back sides, as seen in the same manner, are referred to as the left and right sides, respectively).

As shown in the figure, the artificial leg is 1 of the type in which it is attached to a leg-lower knee section of a living body and after which it is used as a right leg. The artificial leg 1 includes a foot section 3 and a leg attachment portion 4 , wherein the artificial joint device 2 these sections through a parallel connection 10 connects, as well as a cover 5 , The artificial leg 1 comprising the artificial joint device 2 , as a whole, comes with the cover 5 so covered as to have an appearance similar to that of a living leg as a whole.

The foot section 3 (Link Attachment Section, Limb Element) is similar in shape to a living foot and has a flat upper face. The leg attachment section 4 includes a flat mounting plate 4a and a prosthetic tube 4b , When fixing the artificial leg 1 to a lower leg knee portion (not shown) of the user becomes the attachment plate 4a (Link attachment portion, limb member) is connected to the living leg-knee elbow portion by means of a fastener (not shown), the prosthetic tube 4b even between the lower leg-lower knee section and the attachment plate 4a is arranged. The prosthetic tube 4b is formed of porous silicon, for example. Then, if the mounting plate 4a is connected to the living leg-lower knee section, deforms the prosthetic tube 4b such that it conforms to the lower leg-lower knee section and the lower leg-lower knee section and the attachment plate 4a in a state where they are prevented from being in direct mutual contact. This provides the opportunity to relieve an unnatural and unpleasant feeling of the user, thereby improving his sense of wearing the artificial leg.

The parallel connection 10 includes a fixed link 11 and four expandable links 13 , The fixed link 11 has an upper end which attaches to the mounting plate 4a is fixed, as well as a lower end on, which with the foot section 3 by means of a ball joint 12 (Fixed-link joint) is connected. This structure allows the fixed link 11 , in any desired direction with respect to the foot section 3 pivoting to move. In short, the fixed verbin dung Member 11 at least three degrees of freedom.

Each of the four expandable links 13 has an upper end, which with the mounting plate 4a by means of an upper ball joint 14a (Extensible link joint) is connected, and a lower end, which is connected to the foot section 3 by means of a lower ball joint 14b (Extensible link joint) is connected. Two adjacent each of the four expandable links 13 are arranged such that a space (or a distance) between them is progressively reduced in either an upward direction or a downward direction. Specifically, the right and left extensible links are 13 . 13 arranged on the front side with a space between them progressively decreasing in an upward direction and the upper ball joints 14a . 14a are at the respective upper ends of the two expandable links 13 . 13 on the lower surface of the mounting plate 4a arranged at associated close to each other sites. In contrast, all two expandable links 13 . 13 arranged in the front-rear direction with a space (distance) between them, which progressively decreases in the downward direction, and the lower ball joints 14b . 14b are at the associated lower ends of the two expandable links 13 . 13 on the flat upper face of the foot section 3 arranged at associated close to each other places.

Furthermore, as in 2 you can see the four upper ball joints 14a comprising the associated upper ends of the four expandable links 13 with the mounting plate 4a connect to the lower surface of the mounting plate 4a positioned so that they are not arranged in a line, and that a connecting portion of the fixed link 11 , by means of which the fixed link 11 with the mounting plate 4a is disposed within a quadrilateral, which is defined by the upper ball joints 14a as vertices.

Each of the expandable links 13 includes an upper and a lower cylinder 13a . 13b , which are slidably inserted into each other, and a coil spring 13c which are inside the cylinder 13a . 13b is included. The lower cylinder 13b is smaller in diameter than the upper cylinder 13a and into a hole in the upper cylinder 13a fitted. This structure allows the two cylinders 13a . 13b to slide relative to each other in an axial direction, whereby the expandable link 13 is allowed to expand and contract axially.

In addition, the upper cylinder points 13a an upper end which, through a lid, not shown, on which the upper end of the coil spring 13c is attached, is closed. The lower cylinder 13b Similarly, a lower end, which by a lid, not shown, on which the lower end of the coil spring 13c is attached, is closed. According to this structure, when the expandable link 13 extends to a length greater than a predetermined reference length by movement of the expandable link 13 on the coil spring 13c (Urging member) pulled and stretched to the expandable link 13 to push in a direction of pull together. On the other hand, when the expandable link 13 contracts to a length which is smaller than the predetermined reference length, the coil spring 13c by the movement of the expandable link 13 compressed such that the expandable link 13 is urged in an expansion direction.

The operation of the artificial leg 1 , which is constructed as above, will now be described with reference to FIGS 3A to 7B to be discribed. It should be noted that in the artificial leg 1 which is shown in the figures, a shoe 6 the foot section 3 is adjusted and the cover 5 as well as the prosthetic tube 4b have been omitted for the sake of clarity. In addition, the living lower leg-lower knee section to which the artificial leg 1 is attached, omitted in the drawing.

First, in a state detached from the living leg-lower knee section, the artificial leg becomes 1 in a substantially erect condition by the urging force of the coil spring 13c within each expandable link 13 kept like this in the 3A . 3B and 4 is shown. Like in the 4 can be shown, assuming that a front expandable link 13 a pivoting movement about the associated lower ball joint 14b freely from the center of the upper ball joint 14a at the upper end of the expandable link 13 may be expected to move on a circular arc represented by a dashed line, but it actually moves on a circular arc shown by a solid line, particularly along a circular arc which coincides with the circular arc lower ball joint 12 of the fixed link 11 as its center is drawn. Thus, the front expandable link becomes 13 then compressed when the artificial che leg 1 starting from one in the 4 tilted forward position, and then expanded when the artificial leg 1 tilted backwards. In these operations, since the upper and lower ends of the expandable link 13 with the mounting plate 4a or the foot section 3 by means of the upper and lower ball joint 14a . 14b are each connected, no bending stress on the front expandable links 13 exercised. Instead, only a compression load and / or tensile load is applied to them.

Assuming that the rear expandable link 13 a pivoting movement freely around the associated lower ball joint 14b performs in a similar manner to the front expandable link 13 from the center of the upper ball joint 14a at the upper end of the expandable link 13 may be expected to move on a circular arc shown by a dashed line. However, it actually moves on a circular arc, which is shown by a solid line, and in particular along a circular arc, which with the lower ball joint 12 of the fixed link 11 as its center is drawn. Accordingly, the rear expandable link becomes 13 also compressed when the artificial leg 1 starting from the in 4 tilted forward position shown, and then expanded when the artificial leg is tilted backwards. In these operations, no bending stress is applied to the rear expansible links for the same reasons described above 13 exercised, but only a compression load and / or a tensile load.

Thus, if the user is the artificial leg 1 wearing on the living leg-sub-knee section, the leg-sub-knee section is tilted forward while walking, as in 5A the four expandable links are shown 13 all compressed as described above. Because of that, the lower ball joints 14b the four expandable links 13 starting from the ball joint 12 of the fixed link 11 are positioned at appropriate positions in front, act at this time, the urging forces of the four coil springs 13c such that the foot section 3 pivoting to a floor around the ball joint 12 of the fixed link 11 moves while bearing forces from the ground act such that the living leg-sub-knee portion is pressed in an oblique upward and forward direction. As a result, the movement of a kicking against the ground by the artificial leg 1 supports, which allows a nimble and more even walking.

On the other hand, when the user tilts the lower leg-lower knee section back while walking, as shown in FIG 5B the four expandable links are shown 13 all expanded as described above. Because of that, the lower ball joints 14b the four expandable links 13 are positioned in the manner described above, act at this time, the urging forces of the four coil springs 13c such that the fixed link 11 is caused to forward around the ball joint 12 pivoting to move. As a result, movement of the knee is promoted to move forward, allowing for a smoother and more even walking motion.

In addition, as in 6A is shown, then, when the leg-lower knee section is tilted to the left, the two expandable links 13 on the left side both compressed while two expandable links 13 Both are stretched out on the right side. This occurs because the center of the upper ball joint 14a from each expandable link 13 in a circular arc around the lower ball joint 12 at the lower end of the fixed link 11 , as described above, moves. At this time, the urging forces of the four coil springs act 13c such that it is the fixed link 11 cause to be around his ball joint 12 pivoting to move to the right. In short, the urging forces act such that the fixed link 11 in the in the 3A . 3B returned state.

On the other hand, as in 6B is shown, then, when the leg-lower knee section is tilted to the right, two expandable links 13 on the right side both compressed while two extendable links 13 Both are stretched on the left side. At this time, the urging forces of the four coil springs act 13c such that it is the fixed link 11 cause it to turn to the left around its ball joint 12 pivoting to move. In short, the urging forces act such that the fixed link 11 in the in the 3A . 3B returned state.

In addition, when the leg-lower knee section is tilted to the left and around the foot section, it acts 3 as in the 7A and 7B is shown rotated for a left turn, the urging forces of the four coil springs 13c to go to the in the 3A and 3B shown state while the fixed link 11 is twisted to the right.

According to the above parallel connection 10 is the upper end of the fixed link 11 to the mounting plate 4a fixed. Accordingly, it is due to solid and robust design of the fixed link 11 possible, most of the on the mounting plate 4a acting weight of the user or the majority of the bearing force, which the foot section 3 from the ground gets to shore. Because each of the four expandable links 13 its upper and lower end with the mounting plate 4a or with the foot section 3 by means of ball joints 14a . 14b such that the angle thereof with respect to the mounting plate 4a or the foot section 3 In any desired direction can be changed, also no bending stress 13 , but only a compression load and / or a tensile load exerted on the expandable links. This offers the possibility of expandable links 13 to use, which have a relatively low strength and rigidity, whereby the weight of the parallel connection 10 is reduced. Furthermore, the fixed link 11 with its lower end over the ball joint 12 with the foot section 3 connected such that its angle with respect to the foot section 3 can be changed in any desired direction, giving a high degree of freedom in the angle of relative movement between the living leg-sub-knee portion and the foot portion 3 ensured, thereby allowing, for example, a twisting movement of the ankle.

Furthermore, according to the parallel connection 10 each of the coil springs 13c the associated expandable link 13 in a direction opposite to the expansion direction or the contracting direction of the spring 13c What makes it possible, over the expandable links 13 reduce shock transmitted to the living body. As described above, when the user tilts the leg-squat portion while walking forward, the urging forces of the coil springs assist 13c the movement of stepping against the ground through the foot section 3 and, when the user tilts the leg-lower knee section backward, the urging forces of the coil springs assist 13c the movement of the forward movement of the knee, so that the walking movement can be carried out nimbler and more evenly. Moreover, even if the walking movement requires the angle of the ankle to follow a road surface and sufficient holding force of the ankle, for example, in the case of ascending or descending a slope, the required performance for trailing and the holding force by the urging forces of the coil springs 13c be guaranteed.

Thus, the parallel connection constructed as above allows 10 using artificial joint device 2 to increase the degree of freedom of the angle of movement of the ankle to a degree similar to that of a living leg, which was unattainable by the artificial joint device of the conventional artificial leg, thereby to the artificial leg 1 to make it possible to smoothly perform the rotation and the like. Moreover, unlike an artificial joint device of a serial coupling type, which is conventionally used in a robot, for example, the artificial joint device 2 using the parallel connection 10 be realized that is simpler, less expensive and smaller in size than the serial coupling, without the need for a power supply or electric motor is used.

Although at the parallel connection 10 the above first embodiment, the lower end of the fixed link 11 and the upper and lower ends of each of the expandable links 13 all with the foot section 3 or the mounting plate 4a by means of the associated ball joints 12 . 14a . 14b This is not limiting, but it can joints for use in the connection of the connecting members 11 . 13 with the foot section 3 or the mounting plate 4a may be respectively implemented by any suitable joint, which it the link 11 or 13 allowed, so with the foot section 3 or the mounting plate 4a to be connected, that its angle with respect to the foot section 3 or the mounting plate 4a can be changed in any desired direction. In short, any suitable joint having at least three degrees of freedom may be used. For example, joints, such as universal joints, may be used under circumstances that can perform a spherical motion. In addition, although in the first embodiment, the spring 13c as urging means for urging each of the expandable links 13 in directions opposite to the corresponding expansion and contraction directions of the expandable link 13 then used when the expandable link 13 Further, this is not limitative, but any urging means may be used under circumstances which is capable of the expandable link 13 in a direction opposite to the direction of expansion and / or contraction of the expandable link 13 to urge. at For example, fluid springs, such as air springs, may be used as an urging means. In addition, the number of expandable links 13 not limited to four, but any plurality of expandable links 13 may be used under certain circumstances.

Next is an artificial joint device 2 according to a second embodiment of the present invention with reference to 8th to be discribed. It is to be noted that in the following description, component parts and elements that are similar or equivalent to those of the first embodiment are denoted by identical reference numerals, and a detailed description thereof will be omitted when deemed appropriate. As shown in the figure, the artificial joint device is different 2 the present embodiment of the artificial joint device 2 the first embodiment only by a different fixed link 11 ,

In particular, the fixed link 11 expandable and includes a cylinder 11a , a pole 11b and a coil spring 11c (shock-absorbing element). The cylinder 11a has an upper end which attaches to a mounting plate 4a is fixed, as well as an open lower end. The rod 11b is in a bore of the cylinder 11a fitted in such a way that the rod 11b can be moved back and forth within the bore, and has a lower end, which with a foot section 3 by means of a ball joint 12 connected is.

Furthermore, the staff 11b a flange 11d which is formed at a portion above a connecting portion thereof, by means of which the rod 11b with the ball joint 12 connected is. The spiral spring 11c is between the flange 11d and the cylinder 11a arranged in a state in which they are around the rod 11b is wrapped around the rod 11b and the cylinder 11a in a direction for expanding a space between the flange 11d and the cylinder 11a to urge.

According to the artificial joint device constructed as above 2 It is possible, the urging force of the coil spring 11c to be used such that a shock is reduced, which by means of the fixed link 11 to the living body of an artificial leg 1 carrying user is then transmitted as a result of a bearing force from the ground when the user the artificial leg 1 while walking on the floor. Furthermore, this structure allows to reduce a burden of the user, which the artificial, the artificial joint device 2 comprehensive leg 1 carries, which further the feeling of wearing or using the artificial leg 1 is improved.

Although in the second embodiment, the coil spring 11c as the shock-absorbing member for reducing the shock generated by the fixed link 11 This is not limitative, but the shock absorbing member may be implemented by any suitable means having a shock absorbing property. For example, a fluid spring such as an air spring or a synthetic rubber may be used.

Next, an artificial joint device according to a third embodiment of the present invention will be described with reference to FIGS 9A to 11B to be discribed. The artificial joint device of the present invention is applied to an artificial joint device for an ankle of an electrically controlled artificial leg and to an artificial joint device for a joint on the ball of the foot. First, the artificial joint device 2 explained for the ankle. This artificial joint device 2 is different from the artificial joint device 2 the first embodiment in that they include electrically driven expandable links 13 and a control system 20 for controlling the expandable links 13 includes.

Specifically, as in the 10 and 11A . 11B 3, each of the expandable links is shown 13 an electrically driven artificial muscle 13d , which is in two cylinders 13a . 13b is included. The electrically driven artificial muscle 13d (Actuator) is formed by a polymer actuator, which is composed for example of polyacrylonitrile. The electrically driven artificial muscle 13d expands and contracts in response to the input signals, thereby forming the expandable link 13 expand and contract. Furthermore, the electrically powered artificial muscle 13d an energy-regenerative design, which then generates regenerative electrical energy when compressed.

The control system 20 includes a control / regulation 21 (Control), a power supply 22 (Drive source) and a capacitor 23 (Accumulator). The electrically driven artificial muscle 13d is with the power supply 22 and the capacitor 23 by means of the control / regulation 21 connected. The power supply 22 is designed for example as a fuel cell. There is also an implanted chip 24 (Operation will detection means) and a joint po sitionssensor 25 with the control / regulation 21 connected.

The implanted chip 24 is in a brain 8th a user 7 an artificial leg 1 implanted. The implanted chip 24 captures an instruction from the brain 8th , or in particular an instruction, which a user's will to operate 7 to operate the artificial leg 1 . 1 represents and provides a signal to the controller 21 , which stands for the driver's scanned operational will. In addition, the joint position sensor detects 25 an angular position of each muscle of the electrically driven artificial muscles 13d and provides a signal to the controller 21 , which stands for the sampled angular position.

The control / regulation 21 is designed as a microcomputer and controls / regulates electrical energy, which starting from the power supply 22 or from the capacitor 23 in response to the detection signals from the implanted chip 24 and the joint position sensor 25 (please refer 11A ) to the electrically driven artificial muscles 13d is supplied. It also loads the control / regulation 21 then when the electrically driven artificial muscles 13d Regeneration energy, by pressing together, creates the capacitor 23 with the regeneration energy generated and controls at the same time the amount of regeneration energy (see 11B ).

Next, the artificial joint device 2A described for the joint on the ball of the foot. The artificial joint device 2A includes a foot section 3 , a hallux section 16 (big toe) and a parallel connection 15 , The parallel connection 15 includes three expandable links 17 and a movable link 19 ,

The Hallux section 16 includes two Hallux elements 16a . 16b (Limb elements) as well as a swivel joint 16c for connecting the two Hallux elements 16a . 16b such that they are designed to be pivotable relative to one another.

The expandable links 17 are each similar to those of the electrically driven expandable links described above 13 except that the former are smaller in size than the latter. In particular, each takes, as in 10 is shown, link of the expandable links 17 an electrically driven artificial muscle 17d on (actuator), which with the control / regulation 21 is connected, and has an expansion / contraction operation, which by the control / regulation 21 is controlled / regulated. In addition, each of the expandable links has 17 opposite ends, which with the foot section 3 or with the Hallux element 16b of the Halllux section 16 by means of the respective ball joint 18 . 18 (Joints for the expandable link) are connected.

The movable link 19 is inextensible and has opposite ends, which with the foot section 3 or with the Hallux element 16b of the Hallux section 16 by means of the ball joints 19a . 19a (Joints for the movable link) are connected. In this way, the distance between the connecting portions of the foot portion 3 and the Hallux element 16b through which the foot section 3 or the Hallux element 16b with the movable link 19 are held even when the expandable links 17 to expand or contract.

According to the artificial joint device constructed as above 2 for an ankle can be the electrically powered artificial muscle 13d , which in each of the expandable links 13 is received, by means of the control / regulation 21 in response to the detection signals from the implanted chip 24 and the joint position sensor 25 controlled, which allows the movement of the electrically controlled / regulated parallel connection 10 cause, which is difficult, directly by an arrangement or the like of the brain of the user 7 To be controlled, with a movement, by the user 7 is intended to be consistent (or compliant with). With the movement controlled in this way, the angle of movement of the artificial joint device can 2 of the artificial leg 1 with a high degree of freedom through the parallel connection 10 be changed. Due to the fact that the corresponding upper ball joints 14a the expandable links 13 are arranged such that the ball joints 14a not in a line on the mounting plate 4a are arranged, and that the connecting portion of the fixed link 11 by means of the attachment plate 4a connected fixed link 11 is positioned within a quadrilateral defined by the upper ball joints 14a as vertices, it is especially possible, not just the artificial joint device 2 as in the 7A . 7B is shown, but also possible, the expandable links 13 and thus the artificial joint device 2 compact in size.

The artificial joint device 2A for the joint of football is similar like the artificial joint device 2 for an ankle, the electrically powered artificial muscle 17d , which in each of the expandable links 17 is absorbed by the control / regulation 21 in response to the detection signals from the implant 24 as well as the joint position sensor 25 to control so that it is possible the movement of the electrically controlled / regulated parallel connection 15 to cause, which is difficult, directly by an instruction or the like of the user's brain 7 to be controlled to (or conform to) one by the user 7 to agree (or be compliant) with the intended movement. During movement allows the parallel connection 15 , a high degree of freedom in changing the angle of movement of the ball of the foot joint of the artificial leg 1 to reach, causing the movement of the Halluxabschnitts 16 which plays an important role in a rotational movement of the artificial leg 1 while walking in, that of the toe of a living foot can be approximated. In addition, it is possible because the Halluxelement 16b of the Hallux section 16 by means of the inextensible movable link 19 with the foot section 3 is connected to bend the joint on the ball of the foot almost without changing the length of the Halluxes when the parallel connection 15 to thereby further approximate the movement of the pivot of the foot to that of the wrist of the living foot. In this way, the walking motion, which includes the rotational movement, by the automatically controlled / regulated artificial leg 1 be approximated to those of a living leg, allowing a smooth walking motion.

Moreover, it is possible as the main part of the strain which is on the artificial leg 1 is created through the fixed link 11 is supported, the corresponding driving forces of the electrically driven artificial muscles 13d for driving the corresponding expandable links 13 and the weight of the expandable links 13 to reduce. In addition, it is possible regeneration energy through any artificial muscle 13d then generate, when the corresponding expandable link 13 is compressed, so that a reduction in both the power consumption and the size of the power supply can be achieved. This makes it possible to reduce not only the running costs but also the size of the device itself.

Although in the above third embodiment, the implanted chip 24 is used as a detecting means for detecting the signal representing the user's operational will, this is not limiting, but any suitable means capable of detecting a user's will to operate may be used as the detecting means. For example, it is possible to use a sensor for detecting changes in a potential of the nervous system, a sensor for detecting the movement of the muscles, a sensor for detecting a voice of the user, and so forth.

Although in the third embodiment, the movable link 19 can be used as means for preventing a change in length of the Halluxes during the bending movement of the joint of the football, can also on the movable link 19 may be omitted, and the expansion and contraction of the expandable links 17 may be due to the control / regulation 21 be controlled / regulated so that the length of the Halluxes is kept almost constant during a bending movement of the joint of the football. This makes it possible to further approximate the bending movement of the joint at the ball of the foot of the present invention to that of the joint on the foot of the living foot.

Although in the third embodiment, the capacitor 23 as an accumulator for storing regeneration energy generated by the electrically driven artificial muscles 13d Moreover, this is not limitative, but any suitable means, such as a battery capable of storing the regeneration energy produced, may be used as the accumulator.

Although in the third embodiment of the artificial muscle 13d as an actuator for expanding and contracting the corresponding expansible link 13 Further, this is not limiting, but any suitable means capable of being the expandable link 13 may expand and contract, may be used as the actuator. For example, as in the 12A to 12C shown is a DC linear motor 30 possibly as the actuator for expanding and contracting the expandable link 13 be used.

Like in the 12C is shown includes the DC linear motor 30 a stator 31 as well as a movement part 32 which is relative to the stator 31 is mobile. The movement part 32 includes a position sensor and is connected to the control / regulation 21 connected. As in the 12A . 12B has an expandable link 13 further the stator 31 as an arm, with the moving part 32 is installed therein, and further includes a slider 33 which is relative to the stator 31 is displaceable, as well as ball joints 14a . 14b , which at corresponding ends of the stator 31 and the slider 33 are mounted on opposite sides.

The control / regulation 21 controls / regulates the slide 33 in response to a signal from the position sensor of the moving part 32 inside the slider 33 such that the slider 33 relative to the stator 31 moves linearly, causing the expandable link 13 is controlled for expansion and contraction. When the expandable links 13 , each by the above-described DC linear motor 30 be driven, in the parallel connection 10 Used, it is possible to get the same beneficial effects as through the parallel connection 10 of the third embodiment.

Then, if the energy regeneration is not needed by the actuator, In addition, the actuator may under certain circumstances, for example by a artificial Muscle, which consists of a magnetic memory compound or an artificial one Muscle of a pneumatic type is formed, realized.

Further, in the third embodiment, the fixed link may further be possible 11 similar to the fixed link 11 of the second embodiment, as shown in FIG 13 is shown. In particular, the fixed link 11 As shown in the figure, expandable and comprises a cylinder 11a , a pole 11b and a coil spring 11c , According to this modification of the parallel connection 10 According to the third embodiment, the same advantageous effects as provided by the parallel connection 10 of the second embodiment.

Next, an artificial joint device according to a fifth embodiment will be described with reference to FIG 14 to be discribed. As shown in the figure, the artificial joint device of the present embodiment is applied to an artificial joint device for a wrist and a joint of a thumb bale of an artificial arm. The artificial joint device 2 B for the wrist of the artificial arm 40 includes a hand section 9 (Limb element), a mounting plate 4a as well as a parallel connection 10 which the hand section 9 with the mounting plate 4a combines. The parallel connection 10 belongs similar to the parallel connection 10 of the third embodiment of the electrically controlled type and has an operation by a control system similar to the control system described above 20 is controlled / regulated. In short, the artificial joint device 2 B similar to the artificial joint device 2 for an ankle according to the third embodiment, except that the foot section 3 through the hand section 9 is replaced.

The artificial joint device 2 B for a wrist can thus provide the same advantageous effects as through the artificial joint device 2 of the third embodiment. In particular, the artificial joint device allows 2 B , the movement of the electrically controlled / regulated parallel connection 10 which is difficult to be directly controlled by an instruction or the like of the brain of a user so that there is a match (or conformity with) a movement intended by the user. During movement it is possible to adjust the angle of movement of the artificial joint device 2 B of the artificial arm 40 through the parallel connection 10 to change under a high degree of freedom.

An artificial joint device 2C for the joint on a thumb ball comprises a hand section 9 , a thumb section 16 as well as a parallel connection 15 which the hand section 9 with the thumb section 16 combines. The artificial joint device 2C is similar to the artificial joint device 2 for the joint on the ball of the foot according to the third embodiment, except that the foot portion 3 through the hand section 9 is replaced and that the thumb section 16 slightly constructive of the Hallux section 16 different. Accordingly, the artificial joint device 2C for the joint on an artery of the thumb provide the same beneficial effects as they do through the artificial joint device 2A for the joint on the ball of the foot according to the third embodiment. In particular, the artificial joint device allows 2C , the movement of the electrically controlled / regulated parallel connection 15 which is directly difficult by an instruction or the like of the user's brain to be controlled so as to conform to (or conform to) a movement intended by the user. During movement allows the parallel connection 15 to obtain a high degree of freedom in changing the angle of movement of the joint on the ball of the thumb and, consequently, the movement of the thumb portion 16 , which plays an important role in the gripping movement, are approximated to those of the thumb of a living hand.

Even though in the third and fourth embodiments the artificial one Articulated device of the invention on the artificial leg and the artificial arm is applied, this is not limiting, but the artificial Articulated device is applicable to any artificial linkage dimensions of a Robot, a manipulator and the like.

Further is for the relevant Those skilled in the art will appreciate that the foregoing is preferred embodiments of the invention and that are manifold changes and modifications in certain circumstances can be made without being bound by the scope of the invention, as defined in the appended claims is, deviated.

Claims (20)

Parallel connection ( 10 ) for connecting two spaced apart link mounting sections (16) 3 . 4 . 9 ) comprising: a fixed link ( 11 ) with one of its ends on one of the link attachment sections ( 3 . 4 . 9 ), a fixed link joint ( 12 ) for connecting another end of the fixed link ( 11 ) with another of the link mounting portions (FIG. 3 . 4 . 9 ) such that an angle of the fixed link ( 11 ) with respect to the other of the link mounting portions (FIG. 3 . 4 . 9 ) can be changed in any desired direction; a plurality of expandable links ( 13 ) extending between the two link mounting portions ( 3 . 4 . 9 ) extend in an expandable / contractible manner; and a plurality of expandable link joints ( 14a . 14b ), which opposite ends of the plurality of expandable links ( 13 ) each with the link attachment sections (FIG. 3 . 4 . 9 ) such that associated angles of each expandable link ( 13 ) with respect to the link mounting portions (FIG. 3 . 4 . 9 ) can be changed in any desired direction, characterized by urging elements ( 13c ), which in each case in the plurality of expandable connecting links ( 13 ), each urging element having the purpose of providing an associated connecting link of the expandable connecting links ( 13 ) in at least one direction, which is opposite to directions in which the expandable link ( 13 ) then expands and contracts when the expandable link ( 13 ) expands and contracts. Parallel connection ( 10 ) according to claim 1, wherein the fixed link ( 11 ) a shock-absorbing element ( 11c ) for damping a shock which exists between the two link mounting portions (10) 3 . 4 . 9 ) is transmitted. Parallel connection ( 10 ) according to claim 1, wherein the plurality of expandable links ( 13 ) at least three expandable links ( 13 ) are. Parallel connection ( 10 ) according to claim 3, wherein the at least three expandable connecting links ( 13 ) are arranged such that connecting portions thereof which at least with one of the two link mounting portions ( 3 . 4 . 9 ), not on at least one of the two link mounting sections ( 3 . 4 . 9 ) are in line, and that a connecting portion of the fixed link ( 11 ) is positioned within a polygon formed by the connecting portions of the at least three expandable links ( 13 ) is defined as vertices. Parallel connection ( 10 ) according to claim 3, further comprising: a drive source ( 22 ), Actuators ( 13d ), which have the purpose, each one associated link of the at least three expandable links ( 13 ) for expansion and contraction by one of the drive source ( 22 ) drive power, and a control means ( 21 ) for controlling the driving force, which starting from the drive source ( 22 ) each actuator ( 13d ) is supplied. Parallel connection ( 10 ) according to claim 5, wherein the actuator ( 13d ) an electric actuator ( 13d ) configured to generate a regeneration energy when the associated expandable link (10) 13 ) is expanded and contracted by an external force, the parallel connection ( 10 ) further comprises an accumulator ( 23 ) for storing the regeneration energy generated by the electric actuator ( 13d ) was generated. Artificial joint device ( 2 . 2A . 2 B . 2C ), which the parallel connection ( 10 ) according to claim 1, wherein the two link mounting portions ( 3 . 4 . 9 ) two limb elements ( 3 . 4 . 9 . 16 ) are. Artificial joint device ( 2 ) according to claim 7, wherein the fixed link ( 11 ) a shock-absorbing element ( 11c ) for damping a shock occurring between the two limb elements ( 3 . 4 ) is transmitted. Artificial joint device ( 2 . 2A . 2 B . 2C ) according to claim 7, wherein the plurality of expandable links ( 13 . 17 ) at least three expandable links ( 13 . 17 ) are. Artificial joint device ( 2 . 2 B ) according to claim 9, wherein the at least three expandable connecting links ( 13 ) are arranged such that their connecting portions, which at least one element of the two limb elements ( 3 . 4 . 9 ), not on at least one of the two limb elements ( 3 . 4 . 9 ) are in line, and that a connecting portion of the fixed link ( 11 ) is positioned within a polygon which is defined by the connecting portions of the at least three expandable connecting links ( 13 ) as vertices. Artificial joint device ( 2 . 2A . 2 B . 2C ) according to claim 9, further comprising: a drive source ( 22 ), Actuators ( 13d . 17d ), which have the purpose, each one associated link of the at least three expandable links ( 13 . 17 ) for expansion and contraction by one of the drive source ( 22 ) drive power, and a control means ( 21 ) for controlling the driving force, which starting from the drive source ( 22 ) each actuator ( 13d . 17d ) is supplied. Artificial joint device ( 2 . 2A . 2 B . 2C ) according to claim 11, wherein the actuator ( 13d . 17d ) an electric actuator ( 13d . 17d ) which is configured to generate regeneration energy when the associated expandable link (10) 13 . 17 ) is expanded and contracted by an external force, the artificial joint device ( 2 . 2A . 2 B . 2C ) further comprises an accumulator ( 23 ) for storing the regeneration energy generated by the electric actuator ( 13d . 17d ) is produced. Artificial joint device ( 2 . 2A . 2 B . 2C ) according to claim 11, which in an artificial leg ( 1 ) and / or an artificial arm ( 40 ), and further comprising an operation will detection means ( 24 ) for detecting a user's willingness to operate the artificial leg ( 1 ) and / or the artificial arm ( 40 ) and the control means ( 21 ) the actuators ( 13d . 17d ) controls according to the sampled operational will. Artificial joint device ( 2 . 2A . 2 B . 2C ) according to claim 7, wherein the parallel connection ( 15 ) comprises: an inextensible movable link ( 19 ), which is located between the two limb elements ( 3 . 9 . 16 ) and two movable link joints (FIG. 19a ) for connecting the opposite ends of the inextensible movable connecting member ( 19 ) each with the two limb elements ( 3 . 9 . 16 ) such that corresponding angles of the inextensible movable link ( 19 ) with respect to the limb elements ( 3 . 9 . 16 ) can be changed in any desired direction. Artificial joint device ( 2A ) according to claim 7, which is suitable for a Hallux section ( 16 ) is used, wherein the parallel connection ( 15 ) comprises: at least three expandable links ( 17 ), which are located between the two limb elements ( 3 . 16 ) in an expandable / contractible manner, and a plurality of expandable link joints (FIG. 18 ), which opposite ends of the at least three expandable links ( 17 ) each with the limb elements ( 3 . 16 ) such that respective angles of each expandable link ( 17 ) with respect to the limb elements ( 3 . 16 ) can be changed in any desired direction, wherein the artificial joint device ( 2A ) further comprises: a drive source ( 22 ), Actuators ( 17d ), which have the purpose, each one associated link of the at least three expandable links ( 17 ) for expansion and contraction by one of the drive source ( 22 ) drive power, and a control means ( 21 ) for controlling the driving force, which starting from the drive source ( 22 ) each actuator ( 17d ) is supplied. Artificial joint device ( 2C ) according to claim 7, which is suitable for a thumb section ( 16 ) is used, wherein the parallel connection ( 15 ) comprises: at least three expandable links ( 17 ), which are located between the two limb elements ( 5 . 16 ) extend in an expandable / contractible manner, and a plurality of expandable link joints, which have opposite ends of the at least three expandable links (FIGS. 17 ) each with the limb elements ( 9 . 16 ) such that respective angles of each expandable link ( 17 ) with respect to the limb elements ( 9 . 16 ) can be changed in any desired direction, wherein the artificial joint device ( 2C ) further comprises: a drive source ( 22 ), Actuators ( 17d ), which have the purpose, respectively an associated connecting link of the at least three expandable connecting links ( 17 ) for expansion and contraction by one of the drive source ( 22 ) drive power, and a control means ( 21 ) for controlling the driving force, which starting from the drive source ( 22 ) each actuator ( 17d ) is supplied. Artificial joint device ( 2A ) according to claim 15, wherein the parallel connection ( 15 ) further comprises: an inextensible movable connecting member ( 19 ), which is located between the two limb elements ( 3 . 16 ) and two movable link joints (FIG. 19a ) for connecting opposite ends of the inextensible movable connecting member ( 19 ) each with the two limb elements ( 3 . 16 ) such that respective angles of the inextensible movable link ( 19 ) with respect to the limb elements ( 3 . 16 ) can be changed in any desired direction. Artificial joint device ( 2C ) according to claim 16, wherein the parallel connection ( 15 ) further comprises: an inextensible movable connecting member ( 19 ), which is located between the two limb elements ( 9 . 16 ) and two movable link joints for connecting opposite ends of the inextensible movable link (Fig. 19 ) each with the two limb elements ( 3 . 16 ) such that corresponding angles of the inextensible movable link ( 19 ) with respect to the limb elements ( 9 . 16 ) can be changed in any desired direction. Artificial joint device ( 2A ) according to claim 15, wherein said control means ( 21 ) controls the driving force, which starting from the drive source ( 22 ) so to each actuator ( 17d ), that a distance between the two limb elements ( 3 . 16 ) is kept constant. Artificial joint device ( 2C ) according to claim 16, wherein said control means ( 21 ) controls the driving force, which starting from the drive source ( 22 ) so to each actuator ( 17d ), that a distance between the two limb elements ( 9 . 16 ) is kept constant.